CN207327038U - A kind of unstacking and stacking machine device signs of human habitation boxes detecting device - Google Patents
A kind of unstacking and stacking machine device signs of human habitation boxes detecting device Download PDFInfo
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- CN207327038U CN207327038U CN201721070479.1U CN201721070479U CN207327038U CN 207327038 U CN207327038 U CN 207327038U CN 201721070479 U CN201721070479 U CN 201721070479U CN 207327038 U CN207327038 U CN 207327038U
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- gripping apparatus
- vacuum gripping
- unstacking
- negative pressure
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Abstract
The utility model discloses a kind of unstacking and stacking machine device signs of human habitation boxes detecting device, unstacking and stacking machine device people includes mechanical arm, mechanical arm front end is provided with mounting seat, mounting seat front end is provided with horizontal direction multi-group vacuum gripping apparatus arranged side by side, every group of vacuum gripping apparatus includes two grasping plates arranged side by side, grasping plate front end is provided with negative pressure sucker, a smoke box is drawn by two negative pressure suckers of every group of vacuum gripping apparatus front end, gap is left between two grasping plates in every group of vacuum gripping apparatus, be provided with the gap between two grasping plates in every group of vacuum gripping apparatus one be used for detect lower section with the presence or absence of smoke box optoelectronic switch.The utility model has the following advantages compared with prior art：It can whether there is smoke box by being provided with an optoelectronic switch in the gap between two grasping plates in every group of vacuum gripping apparatus below automatic accurate detection, so as to accurately judge whether negative pressure sucker successfully draws smoke box.
Description
Technical field
It the utility model is related to a kind of unstacking and stacking machine device signs of human habitation boxes detecting device.
Background technology
In Wuhu Cigarette Factory warehouse for finished product logistics system, warehousing finished products and outbound are using robot automatic stacking storage and machine
The automatic de-stacking outbound of device people, the gripping apparatus of robot capture smoke box by the sucker on gripping apparatus and carry out de-stacking and stacking work
Industry.When robot tear open stacking work, opened by Electromagnetic Control compressed gas source, compressed air is provided for negative pressure generator
Source, so as to produce negative pressure at sucker to draw smoke box, robot is by negative pressure produced by detecting sucker to determine whether success
Capture smoke box.Since current robot only produces negative pressure by detection of negative pressure device to detect at sucker, and actual job mistake
Often occur smoke box in journey not draw successfully, but negative pressure value still reaches detected value at sucker, causes robot malfunction to cause
Failure and smoke box pile topple over the damage with finished product, and because robot draws the mistake of caused smoke box data not successfully.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, there is provided a kind of unstacking and stacking machine device people smoke box detection
Device, whether to ensure that robot effectively detects smoke box and successfully draws.
The utility model is achieved through the following technical solutions：
A kind of unstacking and stacking machine device signs of human habitation boxes detecting device, the unstacking and stacking machine device people include mechanical arm, before the mechanical arm
End is provided with mounting seat, and the mounting seat front end is provided with horizontal direction multi-group vacuum gripping apparatus arranged side by side, and every group of vacuum is grabbed
Tool includes two grasping plates arranged side by side, and the grasping plate front end is provided with negative pressure sucker, negative by two of every group of vacuum gripping apparatus front end
Press sucker to draw a smoke box, leave gap between two grasping plates in every group of vacuum gripping apparatus, two in every group of vacuum gripping apparatus
Be provided with gap between grasping plate one be used for detect lower section with the presence or absence of smoke box optoelectronic switch.
Further, the optoelectronic switch is scattered reflection type optoelectronic switch.
Further, the optoelectronic switch is arranged on the inside of one of grasping plate in every group of vacuum gripping apparatus.
Further, the negative pressure sucker is sponge sucker.
The utility model has the following advantages compared with prior art：
A kind of unstacking and stacking machine device signs of human habitation boxes detecting device provided by the utility model, it passes through in every group of vacuum gripping apparatus
An optoelectronic switch is provided with gap between two grasping plates, smoke box can be whether there is below automatic accurate detection, so that accurate
Really judge whether negative pressure sucker successfully draws smoke box, and the utility model is simple in structure, cost is low.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model.
Figure label：1 mounting seat, 2 negative pressure suckers, 3 grasping plates, 4 detection of negative pressure devices, 5 optoelectronic switches, 6 mechanical arms.
Embodiment
Elaborate below to the embodiment of the utility model, the present embodiment using technical solutions of the utility model before
Put and implemented, give detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited
In following embodiments.
Referring to Fig. 1, present embodiment discloses a kind of unstacking and stacking machine device signs of human habitation boxes detecting device, the unstacking and stacking machine device people bag
Mechanical arm 6 is included, 6 front end of mechanical arm is provided with mounting seat 1, and it is arranged side by side that 1 front end of mounting seat is provided with horizontal direction
Multi-group vacuum gripping apparatus, every group of vacuum gripping apparatus include two grasping plates 3 arranged side by side, and 3 front end of grasping plate is provided with negative pressure sucker 2,
The negative pressure sucker 2 uses sponge sucker.A smoke box, institute are drawn by two negative pressure suckers 2 of every group of vacuum gripping apparatus front end
It is sponge sucker to state negative pressure sucker 2.Gap is left between two grasping plates 3 in every group of vacuum gripping apparatus, in every group of vacuum gripping apparatus
Be provided with gap between two grasping plates 3 one be used for detect lower section with the presence or absence of the optoelectronic switch 5 of smoke box, the photoelectricity opens
Close 5 inner sides of one of grasping plate 3 being arranged in every group of vacuum gripping apparatus.The optoelectronic switch 5 preferentially uses scattered reflection type photoelectricity
Switch.
When unstacking and stacking machine device people draws smoke box, negative pressure sucker 2 is contacted and sealed with smoke box, except through original negative pressure
Detector 4 is detected beyond the negative pressure at negative pressure sucker 2, while also whether there is by each optoelectronic switch 5 to detect lower section
Smoke box, reaches setting value when detection of negative pressure device 4 detects negative pressure, while in the presence of optoelectronic switch 5 detects smoke box, robot followed by
It is continuous to perform de-stacking or stacking action.When smoke box fails absorption, optoelectronic switch 5 can't detect smoke box, robot shutdown etc.
Treat that staff fixes a breakdown.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement made within new spirit and principle etc., should be included in the guarantor of the utility model
Within the scope of shield.
Claims (4)
1. a kind of unstacking and stacking machine device signs of human habitation boxes detecting device, the unstacking and stacking machine device people includes mechanical arm, it is characterised in that：It is described
Mechanical arm front end is provided with mounting seat, and the mounting seat front end is provided with horizontal direction multi-group vacuum gripping apparatus arranged side by side, often
Group vacuum gripping apparatus includes two grasping plates arranged side by side, and the grasping plate front end is provided with negative pressure sucker, passes through every group of vacuum gripping apparatus front end
Two negative pressure suckers draw a smoke box, leave gap, every group of vacuum gripping apparatus between two grasping plates in every group of vacuum gripping apparatus
In two grasping plates between gap in be provided with one be used for detect lower section with the presence or absence of smoke box optoelectronic switch.
A kind of 2. unstacking and stacking machine device signs of human habitation boxes detecting device as claimed in claim 1, it is characterised in that：The optoelectronic switch is
Scattered reflection type optoelectronic switch.
A kind of 3. unstacking and stacking machine device signs of human habitation boxes detecting device as claimed in claim 1, it is characterised in that：The optoelectronic switch is set
Put on the inside of one of grasping plate in every group of vacuum gripping apparatus.
A kind of 4. unstacking and stacking machine device signs of human habitation boxes detecting device as claimed in claim 1, it is characterised in that：The negative pressure sucker is
Sponge sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721070479.1U CN207327038U (en) | 2017-08-25 | 2017-08-25 | A kind of unstacking and stacking machine device signs of human habitation boxes detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721070479.1U CN207327038U (en) | 2017-08-25 | 2017-08-25 | A kind of unstacking and stacking machine device signs of human habitation boxes detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207327038U true CN207327038U (en) | 2018-05-08 |
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ID=62374362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721070479.1U Active CN207327038U (en) | 2017-08-25 | 2017-08-25 | A kind of unstacking and stacking machine device signs of human habitation boxes detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207327038U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660840A (en) * | 2020-12-09 | 2021-04-16 | 北新集团建材股份有限公司 | Automatic mineral wool board semi-finished product stacking system and method |
-
2017
- 2017-08-25 CN CN201721070479.1U patent/CN207327038U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660840A (en) * | 2020-12-09 | 2021-04-16 | 北新集团建材股份有限公司 | Automatic mineral wool board semi-finished product stacking system and method |
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